JP5625253B2 - Elevator safety device - Google Patents

Elevator safety device Download PDF

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JP5625253B2
JP5625253B2 JP2009086781A JP2009086781A JP5625253B2 JP 5625253 B2 JP5625253 B2 JP 5625253B2 JP 2009086781 A JP2009086781 A JP 2009086781A JP 2009086781 A JP2009086781 A JP 2009086781A JP 5625253 B2 JP5625253 B2 JP 5625253B2
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foreign object
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car
width
car door
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剛史 牧
剛史 牧
山田　哲也
哲也 山田
壮 横山
壮 横山
寛 柏倉
寛 柏倉
琢也 藤井
琢也 藤井
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Fujitec Co Ltd
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Description

本発明はエレベータの安全装置に関し、より具体的には、かごドアが閉じる過程で異物が挟み込まれたときの安全を図るエレベータの安全装置に関するものである。   The present invention relates to an elevator safety device, and more specifically, to an elevator safety device for ensuring safety when a foreign object is caught in the process of closing a car door.

エレベータにおいては、例えば犬等のペットを紐に繋いで乗りかごに乗るとき、ペットが乗り場フロアに残ったまま人が乗りかごに乗り込むと、乗りかごの内部と乗り場フロアに跨って紐が張られた状態で、かごドアと乗り場ドアが閉じて、乗りかごが上昇若しくは下降することになる。この結果、ペットに繋がっている紐によって人の手が強く引っ張られ、場合によっては手首等に大きな傷を受ける虞がある。   In an elevator, for example, when a pet such as a dog is connected to a string and gets on the car, if a person enters the car while the pet remains on the landing floor, the string is stretched across the inside of the car and the landing floor. In this state, the car door and the landing door are closed, and the car is raised or lowered. As a result, the person's hand is strongly pulled by the string connected to the pet, and there is a possibility that the wrist or the like may be seriously damaged.

そこで、乗りかごの乗降口を横切る光ビームを生成して、該光ビームを人や異物が遮ると、かごドア及び乗り場ドアを閉じ動作から開き動作に反転させることが行なわれている(例えば特許文献１参照)。
又、撮像装置によって乗降口が撮影され、撮影によって得られた画像信号に基づいて紐状の異物が存在すると判断されると、かごドア及び乗り場ドアを閉じ動作から開き動作に反転させることが行なわれている(例えば特許文献２参照)。 Therefore, when a light beam that crosses the entrance of the car is generated and the light beam is blocked by a person or a foreign object, the car door and the landing door are reversed from the closing operation to the opening operation (for example, patents). Reference 1).
Further, when the entrance / exit is photographed by the imaging device and it is determined that the string-like foreign matter exists based on the image signal obtained by the photographing, the car door and the landing door are reversed from the closing operation to the opening operation. (For example, see Patent Document 2).

特開２００８−１６９００９号公報JP 2008-169209 A 特開２００６−８９１９０号公報JP 2006-89190 A

ところで、異物検知動作は、かごドアが全開状態から全閉状態となるまでの過程で出来るだけ長い期間に亘って行なわれることが望ましい。
そこで従来は、かごドアの閉じ動作が開始されたときに異物検知動作を開始させることとしているが、レーザ光を用いて異物を検知するエレベータにおいては、人が乗降口に頭や肩を入れてレーザ光を覗き込んだ場合に目に障害を受ける虞があった。
本発明の目的は、かごドアが全閉状態から全閉状態となるまでの過程で従来と同程度の長い期間に亘って異物を検知することが出来、然も、レーザ光等の光ビームが覗き込まれることを防止することが出来るエレベータの安全装置を提供することである。 By the way, it is desirable that the foreign object detection operation is performed over as long a period as possible in the process from the fully open state to the fully closed state of the car door.
Therefore, conventionally, the foreign object detection operation is started when the car door closing operation is started. However, in an elevator that detects a foreign object using laser light, a person puts his / her head and shoulders at the entrance / exit. When looking into the laser beam, there was a risk of eye damage.
The object of the present invention is to detect a foreign object over a long period of time as in the past in the process from the fully closed state to the fully closed state of the car door. It is an object of the present invention to provide a safety device for an elevator that can be prevented from being looked into.

本発明に係る第１のエレベータの安全装置は、互いに接近離間する方向に移動して乗降口を開閉する一対のかごドアを具えたエレベータの安全装置であって、
乗降口を撮影する撮像手段と、
前記撮像手段から得られた画像信号に基づいて前記乗降口に異物が存在するか否かを判断し、異物が存在すると判断したときに異物検知信号を生成する異物検知動作を実行する第１異物検知手段と、
前記乗降口を横切る光ビームを出射する投光手段と、
前記投光手段から出射された光ビームを検知する受光手段と、
前記受光手段による光ビームの検知が中断されたときに異物検知信号を生成する第２異物検知手段と、
両かごドアの閉方向端面間の幅が人が通過できない所定の幅となったことを検知するかごドア位置検知手段と、
前記投光手段による光ビームの出射動作を制御する制御手段
とを具えている。そして、前記第１異物検知手段は、両かごドアが閉じる過程で、少なくとも前記かごドア位置検知手段によって両かごドアの閉方向端面間の幅が前記所定幅となったことが検知されるまでは前記異物検知動作を実行し、前記制御手段は、両かごドアが閉じる過程で、前記かごドア位置検知手段によって両かごドアの閉方向端面間の幅が前記所定幅となったことが検知されたときに前記投光手段に光ビームの出射動作を開始させる。 A first elevator safety device according to the present invention is an elevator safety device that includes a pair of car doors that move in a direction of approaching and separating from each other to open and close the entrance.
Imaging means for photographing the entrance and exit;
A first foreign object that executes a foreign object detection operation for determining whether or not a foreign object is present at the entrance / exit based on an image signal obtained from the imaging means and generating a foreign object detection signal when it is determined that a foreign object is present. Detection means;
A light projecting means for emitting a light beam crossing the entrance / exit;
A light receiving means for detecting a light beam emitted from the light projecting means;
Second foreign matter detection means for generating a foreign matter detection signal when detection of the light beam by the light receiving means is interrupted;
A car door position detecting means for detecting that a width between end faces of the car doors in a closing direction has become a predetermined width that a person cannot pass;
Control means for controlling the light beam emission operation by the light projecting means. The first foreign matter detecting means is in the process of closing the car doors until at least the car door position detecting means detects that the width between the end faces in the closing direction of the car doors has reached the predetermined width. The foreign object detection operation is performed, and the control means detects that the width between the end faces in the closing direction of the car doors becomes the predetermined width by the car door position detection means in the process of closing the car doors. Sometimes the light projecting means is started to emit a light beam.

上記本発明に係る第１のエレベータの安全装置においては、両かごドアが閉じる過程で、少なくとも両かごドアの閉方向端面間の幅が人が通過できない所定幅となるまでは第１異物検知手段による異物検知動作が実行され、乗降口に異物が存在する場合には、第１異物検知手段により異物検知信号が生成されることになる。
そして、両かごドアの閉方向端面間の幅が前記所定幅となった時点で、投光手段による光ビームの出射動作が開始されて第２異物検知手段による異物検知動作が開始される。このとき、第１異物検知手段による異物検知動作は継続させても停止させてもよい。第１異物検知手段による異物検知動作が継続される構成においては、乗降口に異物が存在する場合、両かごドアが全閉状態となるまでの過程で第１異物検知手段或いは第２異物検知手段により異物検知信号が生成されることになる。一方、第１異物検知手段による異物検知動作が停止される構成においては、乗降口に異物が存在する場合、両かごドアが全閉状態となるまでの過程で第２異物検知手段により異物検知信号が生成されることになる。 In the first elevator safety apparatus according to the present invention described above, the first foreign object detection means until at least the width between the end surfaces of the two car doors in the closing direction becomes a predetermined width that a person cannot pass in the process of closing the car doors. When a foreign object detection operation is performed and a foreign object exists at the entrance / exit, a foreign object detection signal is generated by the first foreign object detection means.
When the width between the end faces of the car doors in the closing direction reaches the predetermined width, the light beam emission operation by the light projecting unit is started, and the foreign object detection operation by the second foreign object detection unit is started. At this time, the foreign object detection operation by the first foreign object detection means may be continued or stopped. In the configuration in which the foreign object detection operation by the first foreign object detection unit is continued, when there is a foreign object at the entrance, the first foreign object detection unit or the second foreign object detection unit is in the process until both the car doors are fully closed. Thus, a foreign object detection signal is generated. On the other hand, in the configuration in which the foreign object detection operation by the first foreign object detection unit is stopped, when there is a foreign object at the entrance, the foreign object detection signal is output by the second foreign object detection unit until the car doors are fully closed. Will be generated.

上記本発明に係る第１のエレベータの安全装置においては、両かごドアが閉じる過程で、両かごドアの閉方向端面間の幅が前記所定幅となるまでは第１異物検知手段によって異物を検知することが出来、その後は、第２異物検知手段によって、又は第１異物検知手段及び第２異物検知手段によって異物を検知することが出来る。
又、両かごドアの閉方向端面間の幅が前記所定幅となった時点で投光手段による光ビームの出射動作が開始されるので、光ビームの出射動作が開始された後に人が乗降口に頭や肩を入れて光ビームを覗き込むことは物理的に不可能であり、光ビームが覗き込まれることを防止することが出来る。 In the first elevator safety apparatus according to the present invention, foreign matter is detected by the first foreign matter detection means until the width between the end faces in the closing direction of both the car doors reaches the predetermined width in the process of closing the car doors. Thereafter, the foreign matter can be detected by the second foreign matter detection means or by the first foreign matter detection means and the second foreign matter detection means.
In addition, since the light beam emitting operation by the light projecting means is started when the width between the end surfaces of the car doors in the closing direction reaches the predetermined width, the person can enter and exit after the light beam emitting operation is started. It is physically impossible to look into the light beam with the head or shoulders inserted into it, and the light beam can be prevented from being looked into.

具体的構成において、前記制御手段は、前記かごドア位置検知手段によって両かごドアの閉方向端面間の幅が前記所定幅となったことが検知されるまでに異物検知信号が生成されたとき、両かごドアを閉じ動作から開き動作に反転させる。   In a specific configuration, when the foreign matter detection signal is generated before the control means detects that the width between the closing direction end faces of the two car doors is the predetermined width by the car door position detection means, Reverse both car doors from closing to opening.

上記具体的構成においては、両かごドアの閉方向端面間の幅が前記所定幅となるまでの過程で異物検知信号が生成された場合、乗降口に人或いは何らかの異物が存在すると推定されるため、両かごドアを閉じ動作から開き動作に反転させる。   In the above specific configuration, when a foreign object detection signal is generated in the process until the width between the end surfaces of the car doors in the closing direction reaches the predetermined width, it is estimated that a person or some foreign object exists at the entrance / exit. Invert both car doors from closing to opening.

又、具体的構成において、前記制御手段は、前記かごドア位置検知手段によって両かごドアの閉方向端面間の幅が前記所定幅となったことが検知された後に異物検知信号が生成されたとき、両かごドアを閉じ動作から開き動作に反転させると共に、前記投光手段に光ビームの出射動作を停止させる。   Further, in a specific configuration, when the foreign matter detection signal is generated after the control means detects that the width between the end faces in the closing direction of the two car doors is the predetermined width by the car door position detecting means. The car doors are reversed from the closing operation to the opening operation, and the light projecting means is stopped from emitting the light beam.

上記具体的構成においては、両かごドアの閉方向端面間の幅が前記所定幅となってから両かごドアが全閉状態となるまでの過程で異物検知信号が生成された場合、乗降口に何らかの異物が存在すると推定されるため、両かごドアを閉じ動作から開き動作に反転させるのであるが、このとき、投光手段に光ビームの出射動作を停止させる。これによって、両かごドアの反転開き動作中に光ビームが覗き込まれることを防止することが出来る。   In the above specific configuration, when a foreign object detection signal is generated in the process from when the width between the end faces of the two car doors reaches the predetermined width until the two car doors are fully closed, Since it is presumed that some foreign matter is present, both the car doors are reversed from the closing operation to the opening operation. At this time, the light projecting means stops the light beam emitting operation. Thereby, it is possible to prevent the light beam from being looked into during the reversing opening operation of the car doors.

本発明に係る第２のエレベータ安全装置は、戸当たりフレームに対して接近離間する方向に移動して乗降口を開閉する少なくとも１つのかごドアを具えたエレベータの安全装置であって、
前記乗降口を撮影する撮像手段と、
前記撮像手段から得られた画像信号に基づいて前記乗降口に異物が存在するか否かを判断し、異物が存在すると判断したときに異物検知信号を生成する異物検知動作を実行する第１異物検知手段と、
前記乗降口を横切る光ビームを出射する投光手段と、
前記投光手段から出射された光ビームを検知する受光手段と、
前記受光手段による光ビームの検知が中断されたときに異物検知信号を生成する第２異物検知手段と、
前記戸当たりフレームと前記かごドアの閉方向端面との間の幅が人の通過できない所定幅となったことを検知するかごドア位置検知手段と、
前記投光手段による光ビームの出射動作を制御する制御手段
とを具えている。そして、前記第１異物検知手段は、少なくとも前記かごドア位置検知手段によって前記戸当たりフレームと前記かごドアの閉方向端面との間の幅が前記所定幅となったことが検知されるまでは前記異物検知動作を実行し、前記制御手段は、前記かごドアが閉じる過程で、前記かごドア位置検知手段によって前記戸当たりフレームと前記かごドアの閉方向端面との間の幅が前記所定幅となったことが検知されたときに前記投光手段に光ビームの出射動作を開始させる。 A second elevator safety device according to the present invention is an elevator safety device comprising at least one car door that moves in a direction approaching and separating from a door stop frame to open and close the entrance.
Imaging means for photographing the entrance and exit;
A first foreign object that executes a foreign object detection operation for determining whether or not a foreign object is present at the entrance / exit based on an image signal obtained from the imaging means and generating a foreign object detection signal when it is determined that a foreign object is present. Detection means;
A light projecting means for emitting a light beam crossing the entrance / exit;
A light receiving means for detecting a light beam emitted from the light projecting means;
Second foreign matter detection means for generating a foreign matter detection signal when detection of the light beam by the light receiving means is interrupted;
A car door position detecting means for detecting that the width between the door stop frame and the end face of the car door in a closing direction is a predetermined width that a person cannot pass;
Control means for controlling the light beam emission operation by the light projecting means. The first foreign object detection means is at least until the car door position detection means detects that the width between the door stop frame and the end face of the car door in the closing direction is the predetermined width. In the process of closing the car door, the control means performs a foreign object detection operation so that the width between the door-to-door frame and the end face in the closing direction of the car door becomes the predetermined width by the car door position detection means. When it is detected that the light has been detected, the light projecting means is started to emit a light beam.

上記本発明に係る第２のエレベータの安全装置においては、かごドアが閉じる過程で、少なくとも戸当たりフレームとかごドアの閉方向端面との間の幅が人が通過できない所定幅となるまでは第１異物検知手段による異物検知動作が実行され、乗降口に異物が存在する場合には、第１異物検知手段により異物検知信号が生成されることになる。
そして、戸当たりフレームとかごドアの閉方向端面との間の幅が前記所定幅となった時点で、投光手段による光ビームの出射動作が開始されて第２異物検知手段による異物検知動作が開始される。このとき、第１異物検知手段による異物検知動作は継続させても停止させてもよい。第１異物検知手段による異物検知動作が継続される構成においては、乗降口に異物が存在する場合、かごドアが全閉状態となるまでの過程で第１異物検知手段或いは第２異物検知手段により異物検知信号が生成されることになる。一方、第１異物検知手段による異物検知動作が停止される構成においては、乗降口に異物が存在する場合、かごドアが全閉状態となるまでの過程で第２異物検知手段により異物検知信号が生成されることになる。 In the second elevator safety apparatus according to the present invention, in the process of closing the car door, at least until the width between the door stop frame and the end face of the car door in the closing direction becomes a predetermined width that a person cannot pass through. When the foreign object detection operation by the 1 foreign object detection means is executed and there is a foreign object at the entrance, the foreign object detection signal is generated by the first foreign object detection means.
Then, when the width between the door stop frame and the end face of the car door in the closing direction reaches the predetermined width, the light beam emission operation by the light projecting unit is started, and the foreign object detection operation by the second foreign object detection unit is started. Be started. At this time, the foreign object detection operation by the first foreign object detection means may be continued or stopped. In the configuration in which the foreign object detection operation by the first foreign object detection unit is continued, when there is a foreign object at the entrance, the first foreign object detection unit or the second foreign object detection unit in the process until the car door is fully closed. A foreign object detection signal is generated. On the other hand, in the configuration in which the foreign object detection operation by the first foreign object detection unit is stopped, when there is a foreign object at the entrance, the foreign object detection signal is output by the second foreign object detection unit until the car door is fully closed. Will be generated.

上記本発明に係る第２のエレベータの安全装置においては、かごドアが閉じる過程で、かごドアの閉方向端面間の幅が前記所定幅となるまでは第１異物検知手段によって異物を検知することが出来、その後は、第２異物検知手段によって、又は第１異物検知手段及び第２異物検知手段によって異物を検知することが出来る。
又、戸当たりフレームとかごドアの閉方向端面との間の幅が前記所定幅となった時点で投光手段による光ビームの出射動作が開始されるので、出射動作が開始された後に人が乗降口に頭や肩を入れて光ビームを覗き込むことは物理的に不可能であり、光ビームが覗き込まれることを防止することが出来る。 In the second elevator safety apparatus according to the present invention, in the process of closing the car door, the foreign object is detected by the first foreign object detecting means until the width between the end surfaces of the car door in the closing direction reaches the predetermined width. Thereafter, the foreign matter can be detected by the second foreign matter detection means or by the first foreign matter detection means and the second foreign matter detection means.
Also, since the light beam emitting operation by the light projecting means is started when the width between the door stop frame and the end face of the car door in the closing direction reaches the predetermined width, It is physically impossible to look into the light beam by putting a head or shoulder into the entrance / exit, and it is possible to prevent the light beam from being looked into.

具体的構成において、前記制御手段は、前記かごドア位置検知手段によって前記戸当たりフレームと前記かごドアの閉方向端面間の幅が前記所定幅となったことが検知されるまでに異物検知信号が生成されたとき、前記かごドアを閉じ動作から開き動作に反転させる。   In a specific configuration, the control means detects a foreign object detection signal until the car door position detecting means detects that the width between the door stop frame and the end face in the closing direction of the car door has reached the predetermined width. When generated, the car door is reversed from a closing operation to an opening operation.

上記具体的構成においては、戸当たりフレームとかごドアの閉方向端面との間の幅が前記所定幅となるまでの過程で異物検知信号が生成された場合、乗降口に人或いは何らかの異物が存在すると推定されるため、かごドアを閉じ動作から開き動作に反転させる。   In the above specific configuration, when a foreign object detection signal is generated in the process until the width between the door stop frame and the end face of the car door in the closing direction reaches the predetermined width, there is a person or some foreign object at the entrance / exit. Therefore, the car door is reversed from the closing operation to the opening operation.

又、具体的構成において、前記制御手段は、前記かごドア位置検知手段によって前記戸当たりフレームと前記かごドアの閉方向端面との間の幅が前記所定幅となったことが検知された後に異物検知信号が生成されたとき、前記かごドアを閉じ動作から開き動作に反転させると共に、前記投光手段に光ビームの出射動作を停止させる。   Further, in a specific configuration, the control means detects the foreign matter after the car door position detecting means detects that the width between the door stop frame and the end face in the closing direction of the car door becomes the predetermined width. When the detection signal is generated, the car door is reversed from the closing operation to the opening operation, and the light beam emitting operation is stopped by the light projecting means.

上記具体的構成においては、戸当たりフレームとかごドアの閉方向端面との間の幅が前記所定幅となってからかごドアが全閉状態となるまでの過程で異物検知信号が生成された場合、乗降口に何らかの異物が存在すると推定されるため、かごドアを閉じ動作から開き動作に反転させるのであるが、このとき、投光手段に光ビームの出射動作を停止させる。これによって、かごドアの反転開き動作中に光ビームが覗き込まれることを防止することが出来る。   In the specific configuration, when a foreign object detection signal is generated in the process from when the width between the door stop frame and the end face of the car door in the closing direction reaches the predetermined width until the car door is fully closed. Since it is presumed that some foreign matter is present at the entrance / exit, the car door is closed and reversed from the opening operation to the opening operation. At this time, the light projecting means stops the light beam emitting operation. Thus, it is possible to prevent the light beam from being looked into during the reversing opening operation of the car door.

本発明に係るエレベータ安全装置によれば、かごドアが全閉状態から全閉状態となるまでの過程で従来と同程度の長い期間に亘って異物を検知することが出来、然も、レーザ光等の光ビームが覗き込まれることを防止することが出来る。   According to the elevator safety device according to the present invention, foreign matter can be detected over a period as long as the prior art in the process from the fully closed state to the fully closed state of the car door. It is possible to prevent the light beam such as.

本発明に係るエレベータの全体構成を表わすブロック図である。It is a block diagram showing the whole elevator structure concerning the present invention. 画像処理による異物検知手続きを表わすフローチャートである。It is a flowchart showing the foreign material detection procedure by image processing. 上記エレベータにおいて実行される制御手続きを表わすフローチャートである。It is a flowchart showing the control procedure performed in the said elevator. 敷居上に異物が存在しない場合に２値化処理後に得られる画像を表わす図である。It is a figure showing the image obtained after a binarization process, when a foreign material does not exist on a threshold. 敷居上に紐状の異物が存在する場合に２値化処理後に得られる画像を表わす図である。It is a figure showing the image obtained after a binarization process, when a string-like foreign material exists on a threshold. 異物が細い紐である場合や紐状の異物が敷居を含む背景と同じ様な色であって背景と溶け込んでいる場合に２値化処理後に得られる画像を表わす図である。It is a figure showing the image obtained after a binarization process, when a foreign material is a thin string, or when a string-like foreign material is the same color as the background including a sill and melts into the background. 上記画像に対し膨張処理を施して得られる画像を表わす図である。It is a figure showing the image obtained by performing an expansion process with respect to the said image.

以下、本発明の実施の形態につき、図面に沿って具体的に説明する。
本発明に係るエレベータは、図１に示す如く、乗りかごの乗降口を開閉する左右一対のかごドア(11)(12)を具えたセンターオープンタイプのエレベータであって、かごの内壁には、行先階を指定するため行先階ボタンやかごドアを開閉するための開閉ボタンを具えた操作部(51)と、停止している階数や通過した階数などの種々の情報を表示するための表示部(52)とが配備されている。これらの操作部(51)及び表示部(52)には、エレベータ全体の動作を制御するエレベータ制御装置(７)が接続されている。
上記エレベータの上部には、かごドアを駆動するドアモータ(図示省略)及び該ドアモータに取り付けられたロータリエンコーダ(60)を具えたドア駆動装置(６)と、前記ドアモータの回転を制御すると共に前記ロータリエンコーダ(60)から得られるエンコーダパルス信号に基づいて両かごドア(11)(12)の閉じ位置を検出するドアモータ制御装置(61)とが配備されている。ドアモータ制御装置(61)は、前記エレベータ制御装置(７)に接続されており、ドアモータ制御装置(61)からエレベータ制御装置(７)に両かごドア(11)(12)の閉じ位置を表わすドア位置信号が供給される。 Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.
As shown in FIG. 1, the elevator according to the present invention is a center open type elevator having a pair of left and right car doors (11) and (12) for opening and closing the entrance of a car, and on the inner wall of the car, An operation unit (51) with a destination floor button for specifying the destination floor and an opening / closing button for opening and closing the car door, and a display unit for displaying various information such as the number of floors that have stopped and the number of floors that have passed. (52) is deployed. An elevator control device (7) for controlling the operation of the entire elevator is connected to the operation unit (51) and the display unit (52).
The upper part of the elevator has a door motor (not shown) for driving a car door, a door drive device (6) including a rotary encoder (60) attached to the door motor, and controls the rotation of the door motor and the rotary motor. A door motor control device (61) for detecting the closed position of the car doors (11) (12) based on an encoder pulse signal obtained from the encoder (60) is provided. The door motor control device (61) is connected to the elevator control device (7), and the door motor control device (61) to the elevator control device (7) is a door representing the closed position of the car doors (11) (12). A position signal is provided.

乗降口上方のフレーム(41)には、撮像装置(２)が乗降口下方の敷居(42)の上方空間が撮影範囲Ａとなる様に撮影方向を敷居(42)に向けて固定されている。該撮像装置(２)は前記エレベータ制御装置(７)に接続されており、該撮像装置(２)から得られる画像信号は該エレベータ制御装置(７)に供給される。   On the frame (41) above the entrance / exit, the imaging device (2) is fixed with the shooting direction facing the sill (42) so that the upper space of the sill (42) below the entrance / exit is the shooting range A. . The imaging device (2) is connected to the elevator control device (7), and an image signal obtained from the imaging device (2) is supplied to the elevator control device (7).

又、一対のかごドア(11)(12)が全閉状態にて互いに当接する当接位置を上下に延びる直線上の位置において、前記フレーム(41)には鉛直下方へ向けて投光／受光ユニット(３)が配備される一方、前記敷居(42)には鉛直上方へ向けて反射部材(30)が配備されている。
投光／受光ユニット(３)は、レーザ光を出射すべき投光器と入射してくるレーザ光を検知すべき受光器とを一体に具えている。投光／受光ユニット(３)の投光器としては例えば赤色半導体レーザが採用され、これによって直径１〜２ｍｍのスポットが形成される。投光／受光ユニット(３)の受光器は、入射光による受光量が所定の閾値を上回っているときは異物検知信号を生成しないのに対し、入射光による受光量が所定の閾値を下回っているときは異物検知信号を生成する。投光／受光ユニット(３)は、前記エレベータ制御装置(７)に接続されており、投光／受光ユニット(３)によって生成された異物検知信号は該エレベータ制御装置(７)に供給される。 Further, the frame (41) is projected / received vertically downward at a position on a straight line extending up and down at a contact position where the pair of car doors (11) and (12) contact each other in the fully closed state. While the unit (3) is provided, a reflective member (30) is provided vertically upward on the sill (42).
The light projecting / receiving unit (3) is integrally provided with a light projector that should emit laser light and a light receiver that should detect incident laser light. For example, a red semiconductor laser is used as the projector of the light projecting / receiving unit (3), thereby forming a spot having a diameter of 1 to 2 mm. The light receiver of the light projecting / receiving unit (3) does not generate a foreign object detection signal when the amount of light received by the incident light exceeds a predetermined threshold, whereas the amount of light received by the incident light falls below the predetermined threshold. When it is, a foreign object detection signal is generated. The light projecting / receiving unit (3) is connected to the elevator control device (7), and the foreign object detection signal generated by the light projecting / receiving unit (3) is supplied to the elevator control device (7). .

上記エレベータ制御装置(７)は入出力回路(71)を具えており、該入出力回路(71)に、上記の操作部(51)、表示部(52)、ドアモータ制御装置(61)、撮像装置(２)及び投光／受光ユニット(３)が接続されている。
又、前記入出力回路(71)には、バス(70)を介して、前記操作部(51)からの操作信号に応じて乗りかごの昇降動作を制御する昇降制御手段(72)と、前記表示部(52)の表示動作を制御する表示案内制御手段(73)と、前記投光／受光ユニット(３)に対してレーザ投光オン指令或いはレーザ投光オフ指令を出力するレーザ投光オン／オフ指令手段(74)と、前記ドアモータ制御装置(61)に対してかごドア開指令或いはかごドア閉指令を出力するかごドア開閉指令手段(75)と、前記撮像装置(２)から得られる画像信号に基づいて異物の存在の有無を判断し、異物が存在すると判断したときに異物検知信号を生成する後述の異物検知処理を実行する異物検知手段(76)と、前記投光／受光ユニット(３)の出力及び該異物検知手段(76)の出力に基づいてかごドア開閉指令手段(75)の指令動作を制御する安全制御手段(77)とが接続されている。又、該安全制御手段(77)は、前記ドアモータ制御装置(61)から得られるドア位置信号に基づいてレーザ投光オン／オフ指令手段(74)の指令動作を制御する。 The elevator control device (7) includes an input / output circuit (71). The input / output circuit (71) includes the operation unit (51), the display unit (52), the door motor control device (61), and an image pickup device. The device (2) and the light projecting / receiving unit (3) are connected.
In addition, the input / output circuit (71) includes, via the bus (70), a lifting control means (72) for controlling the lifting operation of the car according to an operation signal from the operation unit (51), Display guidance control means (73) for controlling the display operation of the display unit (52) and laser projection on for outputting a laser projection on command or a laser projection off command to the light projecting / receiving unit (3) / Off command means (74), car door open / close command means (75) for outputting a car door open command or a car door close command to the door motor control device (61), and the image pickup device (2). Foreign matter detecting means (76) for determining the presence or absence of foreign matter based on the image signal and generating a foreign matter detection signal when it is judged that foreign matter is present, executing the foreign matter detection processing described later, and the light projecting / receiving unit Based on the output of (3) and the output of the foreign matter detection means (76), the car door opening / closing command means (75) Safety control means for controlling the decree operation and (77) are connected. The safety control means (77) controls the command operation of the laser projection on / off command means (74) based on the door position signal obtained from the door motor control device (61).

図２は、上記異物検知手段(76)によって実行される異物検知処理の具体的手続きを表わしている。先ずステップＳ１では、撮像装置から１フレーム分の画像信号を取り込む。次にステップＳ２にて、取り込んだ画像信号に対して、画像サイズを所定サイズに変換するリサイズ処理を施した後、ステップＳ３では、リサイズ処理の施された画像信号に対して所定の領域成分を抽出するトリミング処理を施す。これによって、撮影画像から不要な領域が削除された、所定の解像度を有する画像が得られる。   FIG. 2 shows a specific procedure of foreign object detection processing executed by the foreign object detection means (76). First, in step S1, an image signal for one frame is captured from the imaging apparatus. Next, in step S2, the captured image signal is subjected to a resizing process for converting the image size to a predetermined size, and in step S3, a predetermined region component is applied to the resized image signal. Trimming processing is performed. As a result, an image having a predetermined resolution in which an unnecessary area is deleted from the captured image is obtained.

続いてステップＳ４では、トリミング処理によって得られた画像信号に対して２値化処理を施す。
図４は、敷居(42)上に異物が存在しない場合に２値化処理後に得られる画像を表わし、図５は、敷居(42)上に乗りかごと乗り場フロアに跨る紐状の異物が存在する場合に２値化処理後に得られる画像を表わしている。敷居(42)上に異物が存在しない場合には、図４に示す如く敷居(42)の溝部分のみが黒色に変換された画像が得られるのに対して、紐状の異物が存在する場合には、図５に示す如く敷居(42)の溝部分と異物部分が黒色に変換された画像が得られる。この様に、２値化処理後、乗りかごと乗り場フロアに跨る紐状の異物は黒色の縦エッジとなって画像中に表われることになる。 Subsequently, in step S4, a binarization process is performed on the image signal obtained by the trimming process.
FIG. 4 shows an image obtained after binarization processing when no foreign matter exists on the sill (42), and FIG. 5 shows a string-like foreign matter straddling the platform and the landing floor on the sill (42). In this case, an image obtained after binarization processing is shown. When there is no foreign matter on the sill (42), an image in which only the groove portion of the sill (42) is converted to black as shown in FIG. 4 is obtained, whereas there is a string-like foreign matter. As shown in FIG. 5, an image in which the groove portion and the foreign matter portion of the sill (42) are converted to black is obtained. In this way, after the binarization processing, the string-like foreign matter straddling the platform and the landing floor appears as a black vertical edge in the image.

その後、図２のステップＳ５では、２値化処理後の画像信号に対して黒色領域を膨張させる膨張処理を施す。この様に、２値化処理後の画像信号に対して膨張処理を施す理由は、次の通りである。
異物が細い紐である場合や、紐状の異物が敷居を含む背景と同じ様な色であって背景と溶け込んでいる場合には、異物部分が断片的に黒色に変換され、その結果、紐状の異物が図６に示す如く不鮮明な縦エッジとなって画像中に表われることになる。敷居(42)上に乗りかごと乗り場フロアに跨る紐状の異物が存在するか否かの判断は、後述の如く、画像中に黒色の縦エッジが存在するか否かによって行なわれるのであるが、上述の如く紐状の異物が不鮮明な縦エッジとなって表われた場合には、異物が存在するにも拘わらず、異物が検知されない虞がある。このため、２値化処理後の画像信号に対して膨張処理が施されるのである。この膨張処理によって、図７に示す如く黒色の縦エッジが強調されることになる。 Thereafter, in step S5 of FIG. 2, an expansion process for expanding the black region is performed on the image signal after the binarization process. The reason why the image signal after the binarization process is subjected to the expansion process in this way is as follows.
If the foreign object is a thin string, or if the string-like foreign object has the same color as the background including the sill and melts into the background, the foreign object part is converted to black in a fragmentary manner, and as a result As shown in FIG. 6, the shaped foreign matters appear as unclear vertical edges in the image. Whether or not there is a string-like foreign object straddling the car and the landing floor on the sill (42) is determined based on whether or not a black vertical edge exists in the image, as will be described later. When the string-like foreign matter appears as a blurred vertical edge as described above, the foreign matter may not be detected even though the foreign matter is present. For this reason, expansion processing is performed on the image signal after the binarization processing. By this expansion processing, the black vertical edges are emphasized as shown in FIG.

続いて図２のステップＳ６では、膨張処理の施された画像信号に基づいて敷居上に異物が存在するか否かを判断する。ここで、該判断は、画像中に図５及び図７に示す如く水平方向に対する傾き角度θが所定の角度θ０よりも大きい黒色の縦エッジが存在するか否かによって行なわれる。
画像中に黒色の縦エッジが存在しない場合には、図２のステップＳ６にてノーと判断されてステップＳ１に戻る一方、画像中に黒色の縦エッジが存在する場合には、ステップＳ６にてイエスと判断されてステップＳ７に移行し、異物検知信号を生成して安全制御手段に出力した後、ステップＳ１に戻る。 Subsequently, in step S6 of FIG. 2, it is determined whether or not there is a foreign object on the sill based on the image signal subjected to the expansion process. Here, the determination is made based on whether or not a black vertical edge having an inclination angle θ with respect to the horizontal direction larger than a predetermined angle θ0 exists in the image as shown in FIGS.
If there is no black vertical edge in the image, it is determined NO in step S6 of FIG. 2 and the process returns to step S1, while if there is a black vertical edge in the image, in step S6. The determination is affirmative, the process proceeds to step S7, a foreign object detection signal is generated and output to the safety control means, and then the process returns to step S1.

本発明に係るエレベータにおいては、両かごドア(11)(12)の戸開状態での待機中には、エレベータ制御装置(７)の安全制御手段(77)は、投光／受光ユニット(３)にレーザ光の出射動作を停止させると共に、投光／受光ユニット(３)による異物検知動作及び異物検知手段(76)による異物検知動作を無効とする。尚、投光／受光ユニット(３)による異物検知動作が無効とされると、その後に投光／受光ユニット(３)によって生成される異物検知信号が無効化され、異物検知手段(76)による異物検知動作が無効とされると、その後に異物検知手段(76)によって生成される異物検知信号が無効化されることになる。
その後、両かごドア(11)(12)の戸閉動作が開始されたときに、安全制御手段(77)は、異物検知手段(76)による異物検知動作を有効とし、その後、両かごドア(11)(12)が閉方向端面間の幅が人(幼児)の通過できない所定幅(例えば７０ｍｍ)となる所定の閉じ位置まで閉じたときに、安全制御手段(77)は、投光／受光ユニット(３)にレーザ光の出射動作を開始させると共に、投光／受光ユニット(３)による異物検知動作を有効とする。このとき、異物検知手段(76)による異物検知動作は有効な状態に維持される。
安全制御手段(77)は、両かごドア(11)(12)が全開状態から前記所定の閉じ位置まで閉じる過程では、異物検知手段(76)によって異物検知信号が生成されない限り、両かごドア(11)(12)の閉じ動作を継続する。これに対し、異物検知手段(76)は、紐状の異物を検知したとき、異物検知信号を生成して安全制御手段(77)へ出力する。これに応じて、安全制御手段(77)は、両かごドア(11)(12)を閉じ動作から開き動作に反転させると共に、異物検知手段(76)による異物検知動作を無効とする。 In the elevator according to the present invention, the safety control means (77) of the elevator control device (7) is provided with the light projecting / light receiving unit (3) while the car doors (11) and (12) are waiting in the open state. ) Stops the laser beam emission operation, and invalidates the foreign matter detection operation by the light projecting / receiving unit (3) and the foreign matter detection operation by the foreign matter detection means (76). If the foreign object detection operation by the light projecting / receiving unit (3) is invalidated, then the foreign object detection signal generated by the light projecting / receiving unit (3) is invalidated by the foreign object detecting means (76). When the foreign object detection operation is invalidated, the foreign object detection signal generated by the foreign object detection means (76) is subsequently invalidated.
Thereafter, when the door closing operation of the car doors (11) and (12) is started, the safety control means (77) validates the foreign object detection operation by the foreign object detection means (76), and then the car doors ( 11) When (12) is closed to a predetermined closed position where the width between the end faces in the closing direction is a predetermined width (for example, 70 mm) that cannot be passed by a person (infant), the safety control means (77) The unit (3) starts the laser beam emission operation, and the foreign matter detection operation by the light projecting / light receiving unit (3) is validated. At this time, the foreign object detection operation by the foreign object detection means (76) is maintained in an effective state.
In the process of closing the car doors (11), (12) from the fully open state to the predetermined closing position, the safety control means (77) is configured so that the car doors ( 11) Continue the closing operation of (12). On the other hand, the foreign matter detection means (76) generates a foreign matter detection signal and outputs it to the safety control means (77) when it detects a string-like foreign matter. In response to this, the safety control means (77) reverses the car doors (11) and (12) from the closing operation to the opening operation and invalidates the foreign object detection operation by the foreign object detection means (76).

その後、両かごドア(11)(12)が前記所定の閉じ位置まで閉じてから全閉状態となるまでの過程では、投光／受光ユニット(３)から出射されたレーザ光は、図中に破線の矢印で示す如く、その進路に異物が存在しない限り、反射部材(30)によって反射され、投光／受光ユニット(３)へ戻ってくることになる。投光／受光ユニット(３)は、レーザ光が検知されているときは異物検知信号を生成しない。安全制御手段(77)は、両かごドア(11)(12)が前記所定の閉じ位置まで閉じてから全閉状態となるまでの過程で、投光／受光ユニット(３)或いは異物検知手段(76)によって異物検知信号が生成されない限り、両かごドア(11)(12)の閉じ動作を継続する。
これに対し、投光／受光ユニット(３)は、レーザ光の検知が中断されたとき、異物検知信号を生成して安全制御手段(77)へ出力する。又、異物検知手段(76)は、紐状の異物を検知したとき、異物検知信号を生成して安全制御手段(77)へ出力する。安全制御手段(77)は、投光／受光ユニット(３)或いは異物検知手段(76)からの異物検知信号に応じて、両かごドア(11)(12)を閉じ動作から開き動作に反転させると共に、投光／受光ユニット(３)にレーザ光の出射動作を停止させる。又、投光／受光ユニット(３)による異物検知動作及び異物検知手段(76)による異物検知動作を無効とする。 Thereafter, in the process from when the car doors (11) (12) are closed to the predetermined closing position until they are fully closed, the laser light emitted from the light projecting / receiving unit (3) is shown in the figure. As indicated by the broken arrow, unless there is a foreign object on the path, it is reflected by the reflecting member (30) and returns to the light projecting / receiving unit (3). The light projecting / receiving unit (3) does not generate a foreign object detection signal when the laser beam is detected. The safety control means (77) is a light projecting / light receiving unit (3) or a foreign object detection means (in the process from when the car doors (11) and (12) are fully closed until they are closed to the predetermined closing position). Unless the foreign object detection signal is generated by 76), the closing operation of the car doors (11) and (12) is continued.
On the other hand, the light projecting / light receiving unit (3) generates a foreign object detection signal and outputs it to the safety control means (77) when the detection of the laser beam is interrupted. The foreign matter detection means (76) generates a foreign matter detection signal and outputs it to the safety control means (77) when a string-like foreign matter is detected. The safety control means (77) reverses the car doors (11) and (12) from the closing operation to the opening operation in response to the foreign object detection signal from the light projecting / receiving unit (3) or the foreign object detection means (76). At the same time, the light emitting / receiving unit (3) stops the laser light emission operation. Also, the foreign object detection operation by the light projecting / receiving unit (3) and the foreign object detection operation by the foreign object detection means (76) are invalidated.

図３は、上記安全制御手段(77)によって実行される制御手続きを表わしており、先ずステップＳ１１では、戸開完了(全開状態)で待機する。このとき、異物検知手段による異物検知動作及び投光／受光ユニットによる異物検知動作は無効とされている。又、投光／受光ユニットによるレーザ光の出射動作は停止している。
その後、戸開開放時間が満了したときに、ステップＳ１２にて戸閉動作を開始し、続いてステップＳ１３では、異物検知手段による異物検知動作を有効とした後、ステップＳ１４にて、異物が検知されたか否かを判断する。
ここで、異物検知手段によって異物検知信号が生成された場合には、乗りかごの乗降口に乗りかごと乗り場フロアに跨る紐等の異物が存在するものと推定されるため、ステップＳ１９に移行して、反転戸開を開始すると共に異物検知手段による異物検知動作を無効とした後、ステップＳ１１に戻って戸開完了で待機する。 FIG. 3 shows a control procedure executed by the safety control means (77). First, in step S11, the process waits upon completion of door opening (fully opened state). At this time, the foreign object detection operation by the foreign object detection means and the foreign object detection operation by the light projecting / receiving unit are invalidated. Also, the laser beam emission operation by the light projecting / receiving unit is stopped.
Thereafter, when the door opening / closing time expires, the door closing operation is started in step S12. Subsequently, in step S13, the foreign object detection operation by the foreign object detection means is validated, and then the foreign object is detected in step S14. It is judged whether it was done.
Here, if the foreign object detection signal is generated by the foreign object detection means, it is estimated that there is a foreign object such as a string straddling the platform and the landing floor at the entrance / exit of the car, so the process proceeds to step S19. After starting the reverse door opening and invalidating the foreign object detection operation by the foreign object detection means, the process returns to step S11 and waits for the door opening completion.

一方、ステップＳ１４にて異物が検知されなかったと判断されたときは、ステップＳ１５に移行して、ドアモータ制御装置から得られるドア位置信号に基づいて両かごドアが前記所定の閉じ位置まで閉じたか否かを判断し、ノーと判断されたときはステップＳ１４に戻って、異物が検知されたか否かの判断を繰り返す。   On the other hand, when it is determined in step S14 that no foreign matter has been detected, the process proceeds to step S15, and whether or not both car doors are closed to the predetermined closing position based on the door position signal obtained from the door motor control device. If NO is determined, the process returns to step S14 to repeat the determination of whether or not a foreign object has been detected.

その後、両かごドアが前記所定の閉じ位置まで閉じてステップＳ１５にてイエスと判断されたときは、ステップＳ１６に移行して、投光／受光ユニットにレーザ光の出射動作を開始させると共に投光／受光ユニットによる異物検知動作を有効とした後、ステップＳ１７にて異物が検知されたか否かを判断する。
ここで、異物検知手段或いは投光／受光ユニットによって異物検知信号が生成されたときには、乗りかごの乗降口に異物が存在するものと推定されるため、ステップＳ１８に移行して、投光／受光ユニットにレーザ光の出射動作を停止させると共に投光／受光ユニットによる異物検知動作を無効とし、続いてステップＳ１９にて、反転戸開を開始すると共に異物検知手段による異物検知動作を無効とした後、ステップＳ１に戻って戸開完了で待機する。 Thereafter, when both the car doors are closed to the predetermined closing position and it is determined as YES in step S15, the process proceeds to step S16, and the light projecting / receiving unit is started to emit laser light and light is projected. / After enabling the foreign object detection operation by the light receiving unit, it is determined in step S17 whether or not a foreign object has been detected.
Here, when a foreign object detection signal is generated by the foreign object detection means or the light projecting / receiving unit, it is presumed that there is a foreign object at the entrance / exit of the car. After stopping the laser beam emission operation of the unit and invalidating the foreign matter detection operation by the light projecting / receiving unit, and subsequently starting the reverse door opening and invalidating the foreign matter detection operation by the foreign matter detection means in step S19. The process returns to step S1 and waits for the door opening completion.

一方、ステップＳ１７にて異物が検知されなかったと判断されたときは、ステップＳ２０に移行して、戸閉終端位置検出装置(図１にて図示省略)から得られるオン／オフ信号に基づいて戸閉動作が完了したか否かを判断し、ノーと判断されたときはステップＳ１７に戻って異物が検知されたか否かの判断を繰り返す。その後、戸閉動作が完了してステップＳ２０にてイエスと判断されたときは、ステップＳ２１にて、投光／受光ユニットにレーザ光の出射動作を停止させると共に、投光／受光ユニットによる異物検知動作及び異物検知手段による異物検知動作を無効として、上記手続きを終了する。   On the other hand, when it is determined in step S17 that no foreign matter has been detected, the process proceeds to step S20, where the door is based on an on / off signal obtained from a door closing terminal position detection device (not shown in FIG. 1). It is determined whether or not the closing operation has been completed. When it is determined NO, the process returns to step S17 to repeat the determination of whether or not a foreign object has been detected. Thereafter, when the door closing operation is completed and it is determined YES in step S20, in step S21, the light projecting / light receiving unit is stopped from emitting the laser beam, and the foreign matter is detected by the light projecting / light receiving unit. The foreign matter detection operation by the operation and the foreign matter detection means is invalidated, and the above procedure is terminated.

上記手続きによれば、戸閉動作が開始されたときに異物検知手段(76)による異物検知動作が有効とされ、その後、両かごドア(11)(12)が前記所定の閉じ位置まで閉じる過程では、異物検知手段(76)により異物検知信号が生成されたときに、反転戸開が開始されると共に異物検知手段(76)による異物検知動作が無効とされる。
そして、両かごドア(11)(12)が前記所定の閉じ位置まで閉じたときに投光／受光ユニット(３)からのレーザ光の出射が開始されると共に投光／受光ユニット(３)による異物検知動作が有効とされ、その後、両かごドア(11)(12)が全閉状態となるまでの過程では、異物検知手段(76)或いは投光／受光ユニット(３)により異物検知信号が生成されたときに、投光／受光ユニット(３)からのレーザ光の出射が停止されると共に投光／受光ユニット(３)による異物検知動作が無効とされた後、反転戸開が実行されると共に及び異物検知手段(76)による異物検知動作が無効とされる。これに対し、異物が検知されることなく戸閉動作が完了した場合には、そのときに投光／受光ユニット(３)からのレーザ光の出射が停止されると共に、投光／受光ユニット(３)による異物検知動作及び異物検知手段(76)による異物検知動作が無効とされる。 According to the above procedure, the foreign object detection operation by the foreign object detection means (76) is validated when the door closing operation is started, and then the car doors (11) (12) are closed to the predetermined closing position. Then, when the foreign matter detection signal is generated by the foreign matter detection means (76), the reverse door opening is started and the foreign matter detection operation by the foreign matter detection means (76) is invalidated.
When the car doors (11) and (12) are closed to the predetermined closed position, the emission of the laser light from the light projecting / receiving unit (3) is started and the light projecting / receiving unit (3) In the process until the foreign object detection operation is enabled and then the car doors (11) and (12) are fully closed, the foreign object detection signal is output by the foreign object detection means (76) or the light projecting / receiving unit (3). When generated, after the emission of the laser beam from the light projecting / receiving unit (3) is stopped and the foreign object detection operation by the light projecting / receiving unit (3) is invalidated, the reverse door opening is executed. And the foreign object detection operation by the foreign object detection means (76) is invalidated. On the other hand, when the door closing operation is completed without foreign matter being detected, the emission of the laser light from the light projecting / light receiving unit (3) is stopped and the light projecting / light receiving unit ( The foreign matter detection operation by 3) and the foreign matter detection operation by the foreign matter detection means (76) are invalidated.

本発明に係るエレベータにおいては、両かごドア(11)(12)が全開状態から所定の閉じ位置まで閉じるまでは異物検知手段(76)によって異物を検知することが出来、その後、両かごドア(11)(12)が全閉状態となるまでは異物検知手段(76)及び投光／受光ユニット(３)によって異物を検知することが出来る。
又、上述の如く、両かごドア(11)(12)が前記所定の閉じ位置まで閉じた後においても異物検知手段(76)による異物検知動作を有効とすることによって、より確実に異物を検知することが出来る。
又、戸開待機中には投光／受光ユニット(３)からのレーザ光の出射が停止されるので、戸開待機中にレーザ光が覗き込まれることを防止することが出来る。
又、戸閉動作中は、両かごドア(11)(12)が前記所定の閉じ位置まで閉じたときに投光／受光ユニット(３)によるレーザ光の出射動作が開始されるので、レーザ光の出射動作が開始された後に人が乗降口に頭や肩を入れてレーザ光を覗き込むことは物理的に不可能であり、戸閉動作中にレーザ光が覗き込まれることを防止することが出来る。
更に、両かごドア(11)(12)が前記所定の閉じ位置から全閉状態まで閉じる過程で異物が検知されたとき、反転戸開動作が実行されることになるのであるが、このとき、投光／受光ユニット(３)からのレーザ光の出射が停止されるので、反転戸開動作中にレーザ光が覗き込まれることを防止することが出来る。 In the elevator according to the present invention, the foreign object can be detected by the foreign object detection means (76) until the both car doors (11) and (12) are closed from the fully open state to the predetermined closed position, and then the two car doors ( 11) Foreign matter can be detected by the foreign matter detecting means (76) and the light projecting / receiving unit (3) until the state (12) is fully closed.
In addition, as described above, the foreign object detection operation by the foreign object detection means (76) is made effective even after the car doors (11) and (12) are closed to the predetermined closing position, thereby detecting the foreign objects more reliably. I can do it.
Further, since the emission of the laser beam from the light projecting / receiving unit (3) is stopped during the door open standby, it is possible to prevent the laser light from being looked into during the door open standby.
During the door closing operation, the light emitting / receiving unit (3) starts the laser beam emission operation when the car doors (11) and (12) are closed to the predetermined closing position. It is physically impossible for a person to put his head or shoulders into the entrance / exit and then look into the laser light after the start of the light emission operation, and to prevent the laser light from being looked into during the door closing operation. I can do it.
Furthermore, when foreign matter is detected in the process of closing both the car doors (11) and (12) from the predetermined closed position to the fully closed state, a reverse door opening operation is performed. Since the emission of the laser beam from the light projecting / receiving unit (3) is stopped, it is possible to prevent the laser beam from being looked into during the reversing door opening operation.

尚、本発明の各部構成は上記実施の形態に限らず、特許請求の範囲に記載の技術的範囲内で種々の変形が可能である。
例えば、本実施の形態においては、両かごドア(11)(12)が所定の閉じ位置まで閉じた後に異物検知手段(76)による異物検知動作を有効な状態に維持しているが、両かごドア(11)(12)が所定の閉じ位置まで閉じた時点で異物検知手段(76)による異物検知動作を無効とする構成の採用も可能である。又、本実施の形態においては、両かごドア(11)(12)が全開状態から全閉状態まで閉じる過程で常に異物検知手段(76)に異物検知動作を実行させているが、両かごドア(11)(12)が所定の閉じ位置まで閉じた時点で異物検知動作を停止させる構成の採用も可能である。これらの構成によれば、撮像装置(２)の撮影範囲に両かごドア(11)(12)の閉方向端部が入り込んでくることによる異物の誤検知をも防止することが出来る。
又、本実施の形態においては、画像中に黒色の縦エッジが存在するか否かを判断することによって敷居(42)上に紐状の異物が存在するか否かを判断しているが、異物の存在の有無を判断する方法としては、その他の周知の方法を採用することが可能である。例えば、敷居(42)上に異物が存在しないときに撮像装置から得られた画像信号をメモリに格納しておき、撮像装置から得られた画像信号とメモリに格納されている画像信号と比較することによって紐状の異物を含む何らかの異物が存在するか否かを判断することも可能である。 In addition, each part structure of this invention is not restricted to the said embodiment, A various deformation | transformation is possible within the technical scope as described in a claim.
For example, in the present embodiment, the foreign object detection operation by the foreign object detection means (76) is maintained in an effective state after the car doors (11) and (12) are closed to the predetermined closed position. It is also possible to adopt a configuration in which the foreign matter detection operation by the foreign matter detection means (76) is invalidated when the doors (11) and (12) are closed to a predetermined closing position. In the present embodiment, the foreign object detection means (76) always performs the foreign object detection operation while the car doors (11) and (12) are closed from the fully open state to the fully closed state. (11) It is also possible to adopt a configuration in which the foreign object detection operation is stopped when point (12) is closed to a predetermined closing position. According to these configurations, it is possible to prevent erroneous detection of foreign matter due to the closing direction ends of the car doors (11) and (12) entering the imaging range of the imaging device (2).
Further, in the present embodiment, it is determined whether there is a string-like foreign object on the sill (42) by determining whether there is a black vertical edge in the image, Other known methods can be adopted as a method for determining the presence or absence of foreign matter. For example, the image signal obtained from the imaging device is stored in the memory when there is no foreign object on the sill (42), and the image signal obtained from the imaging device is compared with the image signal stored in the memory. Thus, it is possible to determine whether there is any foreign matter including string-like foreign matter.

又、本実施の形態においては、異物検知手段(76)をエレベータ制御装置(７)内に設けているが、撮像装置(２)内に設ける構成を採用することも可能である。かかる構成においては、撮像装置(２)は、かごドアの状態やエレベータの状態とは無関係に異物検知信号をエレベータ制御装置(７)に送信し、エレベータ制御装置(７)は、撮像装置(２)から得られる異物検知信号に基づいてかごドアの開閉を制御することになる。   Further, in the present embodiment, the foreign matter detection means (76) is provided in the elevator control device (7), but a configuration in which the foreign matter detection means (76) is provided in the imaging device (2) can also be adopted. In this configuration, the imaging device (2) transmits a foreign object detection signal to the elevator control device (7) regardless of the state of the car door or the elevator, and the elevator control device (7) The door opening / closing of the car is controlled on the basis of the foreign object detection signal obtained from (1).

又、両かごドア(11)(12)の閉方向端面間の幅が両かごドア(11)(12)の閉方向端部が撮像装置(２)の撮影範囲に入り込んでくる幅よりも大きい所定幅となったときに投光／受光ユニット(３)にレーザ光の出射動作を開始させる構成の採用も可能である。該構成によれば、撮像装置(２)の撮影範囲に両かごドア(11)(12)の閉方向端部が入り込んでくることによる異物の誤検知を防止することが出来る。尚、該構成においては、両かごドア(11)(12)の閉方向端面間の幅が前記所定幅となったときに異物検知手段(76)による異物検知動作を無効とし、或いは停止させる。
又、両かごドア(11)(12)の閉方向端面間の幅が、人が通過できない幅であって、且つ両かごドア(11)(12)の閉方向端部が撮像装置(２)の撮影範囲に入り込んでくる幅よりも大きい所定幅となったときに、投光／受光ユニット(３)にレーザ光の出射動作を開始させる構成の採用も可能である。該構成によれば、レーザ光の覗き込み及び撮影範囲に両かごドア(11)(12)の閉方向端部が入り込んでくることによる異物の誤検知を防止することが出来る。 Moreover, the width between the closing direction end surfaces of the car doors (11) and (12) is larger than the width at which the closing direction end portions of the car doors (11) and (12) enter the imaging range of the imaging device (2). It is also possible to adopt a configuration in which the light projecting / light receiving unit (3) starts the emission operation of the laser light when the predetermined width is reached. According to this configuration, it is possible to prevent a foreign object from being erroneously detected due to the closed ends of the car doors (11) and (12) entering the imaging range of the imaging device (2). In this configuration, the foreign object detection operation by the foreign object detection means (76) is invalidated or stopped when the width between the closing direction end surfaces of the car doors (11) and (12) reaches the predetermined width.
Also, the width between the end faces of the car doors (11) and (12) is such that a person cannot pass through, and the end of the car doors (11) and (12) in the closing direction is the imaging device (2). It is also possible to adopt a configuration in which the light projecting / light receiving unit (3) starts the operation of emitting laser light when the predetermined width is larger than the width entering the imaging range. According to this configuration, it is possible to prevent a foreign object from being erroneously detected when the ends of the car doors (11) and (12) enter the laser beam viewing and photographing range.

更に、本実施の形態においては、本発明をセンターオープンタイプのエレベータの安全装置に実施しているが、戸当たりフレームに対して接近離間する方向に移動して乗降口を開閉する少なくとも１つのかごドアを具えたサイドオープンタイプのエレベータの安全装置に実施することも可能である。
更に又、本実施の形態においては、本発明を、乗降口を鉛直方向に横切る光ビームを用いて異物の検知を行なうエレベータの安全装置に実施しているが、水平方向に横切る光ビームを用いて異物の検知を行なうエレベータの安全装置に実施することも可能である。 Furthermore, in the present embodiment, the present invention is applied to a safety device for a center open type elevator, but at least one car that moves in a direction approaching and separating from the door-to-door frame to open and close the entrance / exit. It can also be implemented in a side open type elevator safety device having a door.
Furthermore, in the present embodiment, the present invention is implemented in an elevator safety device that detects foreign objects using a light beam that traverses the entrance and exit in the vertical direction, but uses a light beam that traverses in the horizontal direction. It can also be implemented in an elevator safety device that detects foreign matter.

(２) 撮像装置
(３) 投光／受光ユニット
(30) 反射板
(７) エレベータ制御装置
(74) レーザ投光オン／オフ指令手段
(75) かごドア開閉指令手段
(76) 異物検知手段
(77) 安全制御手段 (2) Imaging device
(3) Emitting / receiving unit
(30) Reflector
(7) Elevator control device
(74) Laser projection on / off command means
(75) Car door opening / closing command means
(76) Foreign matter detection means
(77) Safety control means

Claims (6)

互いに接近離間する方向に移動して乗降口を開閉する一対のかごドアを具えたエレベータの安全装置において、
乗降口を撮影する撮像手段と、
前記撮像手段から得られた画像信号に基づいて前記乗降口に異物が存在するか否かを判断し、異物が存在すると判断したときに異物検知信号を生成する異物検知動作を実行する第１異物検知手段と、
前記乗降口を横切る光ビームを出射する投光手段と、
前記投光手段から出射された光ビームを検知する受光手段と、
前記受光手段による光ビームの検知が中断されたときに異物検知信号を生成する第２異物検知手段と、
両かごドアの閉方向端面間の幅が人の通過できない幅であって、且つ両かごドアの閉方向端部が前記撮像手段の撮影範囲に入り込んでくる幅よりも大きな所定幅となったことを検知するかごドア位置検知手段と、
前記投光手段による光ビームの出射動作を制御する制御手段
とを具えており、前記第１異物検知手段は、両かごドアが閉じる過程で、前記かごドア位置検知手段によって両かごドアの閉方向端面間の幅が前記所定幅となったことが検知されるまでは前記異物検知動作を実行し、前記制御手段は、両かごドアが閉じる過程で、前記かごドア位置検知手段によって両かごドアの閉方向端面間の幅が前記所定幅となったことが検知されたときに前記投光手段に光ビームの出射動作を開始させることを特徴とするエレベータの安全装置。 In an elevator safety device comprising a pair of car doors that move in the direction of approaching and separating from each other to open and close the entrance,
Imaging means for photographing the entrance and exit;
A first foreign object that executes a foreign object detection operation for determining whether or not a foreign object is present at the entrance / exit based on an image signal obtained from the imaging means and generating a foreign object detection signal when it is determined that a foreign object is present. Detection means;
A light projecting means for emitting a light beam crossing the entrance / exit;
A light receiving means for detecting a light beam emitted from the light projecting means;
Second foreign matter detection means for generating a foreign matter detection signal when detection of the light beam by the light receiving means is interrupted;
The width between the closing direction end faces of the car doors is a width that cannot be passed by a person , and the closing direction end parts of the car doors have a predetermined width larger than the width entering the imaging range of the imaging means. A car door position detecting means for detecting
Control means for controlling the light beam emitting operation by the light projecting means, and the first foreign object detecting means is a closing direction of the car doors by the car door position detecting means in the process of closing the car doors. The foreign object detection operation is executed until it is detected that the width between the end faces is equal to the predetermined width, and the control means detects the car door position by the car door position detection means in the process of closing the car doors. An elevator safety device, wherein when the width between the end faces in the closing direction is detected to be the predetermined width, the light projecting means is started to emit a light beam. 前記制御手段は、前記かごドア位置検知手段によって両かごドアの閉方向端面間の幅が前記所定幅となったことが検知されるまでに異物検知信号が生成されたとき、両かごドアを閉じ動作から開き動作に反転させる請求項１に記載のエレベータの安全装置。   The control means closes the car doors when the foreign object detection signal is generated before the car door position detecting means detects that the width between the end faces of the car doors in the closing direction is the predetermined width. The elevator safety device according to claim 1, wherein the operation is reversed from an operation to an opening operation. 前記制御手段は、前記かごドア位置検知手段によって両かごドアの閉方向端面間の幅が前記所定幅となったことが検知された後に異物検知信号が生成されたとき、両かごドアを閉じ動作から開き動作に反転させると共に、前記投光手段に光ビームの出射動作を停止させる請求項１又は請求項２に記載のエレベータの安全装置。   The control means closes both the car doors when the foreign object detection signal is generated after the car door position detecting means detects that the width between the end faces of the car doors in the closing direction is the predetermined width. The elevator safety device according to claim 1 or 2, wherein the light projecting means is stopped from the light beam emission operation while being reversed to the opening operation. 戸当たりフレームに対して接近離間する方向に移動して乗降口を開閉する少なくとも１つのかごドアを具えたエレベータの安全装置において、
前記乗降口を撮影する撮像手段と、
前記撮像手段から得られた画像信号に基づいて前記乗降口に異物が存在するか否かを判断し、異物が存在すると判断したときに異物検知信号を生成する異物検知動作を実行する第１異物検知手段と、
前記乗降口を横切る光ビームを出射する投光手段と、
前記投光手段から出射された光ビームを検知する受光手段と、
前記受光手段による光ビームの検知が中断されたときに異物検知信号を生成する第２異物検知手段と、
前記戸当たりフレームと前記かごドアの閉方向端面との間の幅が人の通過できない幅であって、且つ前記ごドアの閉方向端部が前記撮像手段の撮影範囲に入り込んでくる幅よりも大きな所定幅となったことを検知するかごドア位置検知手段と、
前記投光手段による光ビームの出射動作を制御する制御手段
とを具えており、前記第１異物検知手段は、前記かごドアが閉じる過程で、前記かごドア位置検知手段によって前記戸当たりフレームと前記かごドアの閉方向端面との間の幅が前記所定幅となったことが検知されるまでは前記異物検知動作を実行し、前記制御手段は、前記かごドアが閉じる過程で、前記かごドア位置検知手段によって前記戸当たりフレームと前記かごドアの閉方向端面との間の幅が前記所定幅となったことが検知されたときに前記投光手段に光ビームの出射動作を開始させることを特徴とするエレベータの安全装置。 In an elevator safety device comprising at least one car door that opens and closes a doorway by moving toward and away from a door-to-door frame,
Imaging means for photographing the entrance and exit;
A first foreign object that executes a foreign object detection operation for determining whether or not a foreign object is present at the entrance / exit based on an image signal obtained from the imaging means and generating a foreign object detection signal when it is determined that a foreign object is present. Detection means;
A light projecting means for emitting a light beam crossing the entrance / exit;
A light receiving means for detecting a light beam emitted from the light projecting means;
Second foreign matter detection means for generating a foreign matter detection signal when detection of the light beam by the light receiving means is interrupted;
The width between the door stop frame and the closing end face of the car door is a width that cannot be passed by a person , and the closing direction end of the door enters a shooting range of the imaging means. A car door position detecting means for detecting that the predetermined width is large ;
Control means for controlling the light beam emitting operation by the light projecting means, and the first foreign object detecting means is configured to detect the door-contact frame and the door by the car door position detecting means in the process of closing the car door. The foreign matter detection operation is executed until it is detected that the width between the end of the car door and the end face in the closing direction is the predetermined width, and the control means is configured to detect the position of the car door in the process of closing the car door. When the detecting means detects that the width between the door-to-door frame and the end face of the car door in the closing direction is the predetermined width, the light projecting means starts the light beam emission operation. Elevator safety device. 前記制御手段は、前記かごドア位置検知手段によって前記戸当たりフレームと前記かごドアの閉方向端面間の幅が前記所定幅となったことが検知されるまでに異物検知信号が生成されたとき、前記かごドアを閉じ動作から開き動作に反転させる請求項４に記載のエレベータの安全装置。   When the foreign matter detection signal is generated before the control means detects that the width between the door stop frame and the end face in the closing direction of the car door has reached the predetermined width by the car door position detection means, The elevator safety device according to claim 4, wherein the car door is reversed from a closing operation to an opening operation. 前記制御手段は、前記かごドア位置検知手段によって前記戸当たりフレームと前記かごドアの閉方向端面との間の幅が前記所定幅となったことが検知された後に異物検知信号が生成されたとき、前記かごドアを閉じ動作から開き動作に反転させると共に、前記投光手段に光ビームの出射動作を停止させる請求項４又は請求項５に記載のエレベータの安全装置。   When the foreign matter detection signal is generated after the control means detects that the width between the door contact frame and the end face in the closing direction of the car door has reached the predetermined width by the car door position detection means. The elevator safety device according to claim 4 or 5, wherein the car door is reversed from a closing operation to an opening operation, and the light projecting means is stopped from the light beam emitting operation.
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